CN103891464A - Automatic mowing system - Google Patents
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- CN103891464A CN103891464A CN201210585225.9A CN201210585225A CN103891464A CN 103891464 A CN103891464 A CN 103891464A CN 201210585225 A CN201210585225 A CN 201210585225A CN 103891464 A CN103891464 A CN 103891464A
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Abstract
The invention discloses an automatic mowing system which comprises a stop station and an automatic mowing machine. The automatic mowing machine comprises a controller and a storer, a working program is stored in the storer, and the controller executes the working program after receiving a starting instruction input by a user to control the automatic mowing machine to automatically repeat mowing work and return to the stop station for charging until receiving a stop instruction. Consequently, the automatic mowing system does not need the user to input working parameters and is low in cost.
Description
Technical Field
The invention relates to an automatic mowing system.
Background
With the continuous progress of computer technology and artificial intelligence technology, automatic walking devices similar to intelligent robots have started to walk slowly into people's lives. Samsung, irex, etc., have developed fully automatic cleaners and have been put on the market. The full-automatic dust collector is small in size, integrates an environment sensor, a self-driving system, a dust collection system, a battery and a charging system, can automatically return to a stop station when the energy is low without manual control, automatically cruises indoors, is in butt joint and charges, and then continues crusing and collecting dust. Meanwhile, companies such as hasskarna developed similar intelligent lawn mowers that can automatically mow and charge in a user's lawn without user intervention. The automatic mowing system is greatly popular because the user is freed from tedious and time-consuming housework such as cleaning, lawn maintenance and the like without being required to invest energy management after being set once.
The existing automatic mower is generally applied to a working area with a large area, such as 1000 square meters. When the automatic mower works, a user needs to input working parameters such as the area of a working area, the working time and the like, and the automatic mower stops moving after reaching the working parameters. If the user calculates or evaluates the area of the working area, the area value is input to the automatic mower, the automatic mower automatically calculates the working time required by the area, the timer is started, and the movement is stopped when the calculated working time is reached. In a working area with a small area, such as 50-200 square meters, if the user still needs to input working parameters to control the working time of the automatic mower, the user is troublesome to operate and the cost is high.
There is a need for improvements in existing robotic lawnmowers and docking stations that do not require user input of operating parameters and that are cost effective.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the automatic mowing system which does not need a user to input working parameters and has lower cost.
The technical scheme of the invention is realized as follows: an automatic mowing system comprises a stop station and an automatic mower, wherein the automatic mower is provided with a controller, a memory, a power supply device and a walking motor, a fixed working program is stored in the memory, and the controller executes the working program after receiving a starting instruction input by a user so as to control the automatic mower to automatically repeat mowing work and return to the stop station for charging until the controller receives a stopping instruction.
Preferably, the working procedure comprises the steps of: starting the walking motor; controlling the automatic mower to enter a preset working area; controlling the automatic mower to carry out mowing work according to a preset route or a random route; detecting the electric quantity or the discharge time of the power supply device, and controlling the automatic mower to return to the stop station for charging if the electric quantity of the power supply device is lower than a first preset value or the discharge time reaches a first preset time; and detecting the electric quantity or the charging time of the power supply device, and controlling the automatic mower to carry out mowing again if the electric quantity or the charging time of the power supply device reaches a second preset value or a second preset time.
Preferably, the robotic lawnmower system further comprises a physical boundary device for forming a boundary line to define the work area within which the robotic lawnmower operates.
Furthermore, the physical boundary device comprises a plurality of independent wireless transmitters for sending wireless signals as boundary signals, and the automatic mower is provided with a wireless receiver for detecting the boundary signals.
Further, the wireless transmitter is an infrared transmitter, and the wireless receiver is an infrared receiver.
Further, the robotic lawnmower system includes a virtual boundary device for defining a working area of the robotic lawnmower.
Furthermore, the virtual boundary device is a global positioning module, a camera module or a grassland identification module arranged in the automatic mower, the global positioning module is in wireless communication with a positioning satellite, a virtual boundary is formed by a preset position coordinate sequence, the camera module shoots the automatic mower and the area nearby the automatic mower and demarcates the virtual boundary on the shot image, and the grassland identification module judges whether the grassland is the grassland or not according to the color or the humidity of the grassland.
Further, the controller controls the robotic lawnmower to return to the docking station along a boundary of the work area.
Further, the controller controls the robotic lawnmower to return directly toward the docking station.
Furthermore, at least one ultrasonic generator is arranged on the stop station, at least one ultrasonic receiver is arranged on the automatic mower, and when the automatic mower returns, the controller adjusts the advancing direction of the automatic mower according to the receiving condition of the ultrasonic receiver, so that the automatic mower returns towards the stop station.
Furthermore, be equipped with supersonic generator and infra-red transmitter on the stop, be equipped with ultrasonic receiver and infrared receiver on the robotic mower, supersonic generator and ultrasonic receiver are used for guiding the robotic mower to return towards the stop, infra-red transmitter and infrared receiver are used for realizing that robotic mower and stop carry out the butt joint and charge.
Furthermore, the automatic mower further comprises an operation interface for a user to operate, wherein the operation interface is only provided with a power key, a start key and a stop key, the power key is used for starting or closing the power supply of the automatic mower, the start key sends the start instruction when being pressed, and the stop key sends the stop instruction when being pressed.
The automatic mower comprises a controller and a memory, wherein a working program is stored in the memory, the controller starts the automatic mower after receiving a starting instruction input by a user, executes the working program, and controls the automatic mower to automatically and repeatedly perform mowing work and return to the stop station for charging until the controller receives a stopping instruction. Therefore, the working parameters are not required to be input by a user, and the cost is low.
Drawings
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
FIG. 1 is a schematic view of an automated mowing system of the present invention.
FIG. 2 is an exploded view of the robotic lawnmower of FIG. 1.
FIG. 3 is a block schematic view of the robotic lawnmower of FIG. 1.
Fig. 4 is a flow chart illustrating an operation procedure in the automatic mowing system of the present invention.
FIG. 5 is a schematic view of another preferred embodiment of the present invention.
FIG. 6 is a schematic view of another preferred embodiment of the automated mowing system of the invention.
Fig. 7 is another state diagram of the automated mowing system shown in fig. 6.
Wherein,
100. an automatic mower; 200. A docking station; 20. A wheel;
30. a traveling motor; 40. Cutting the motor; 42. A cutting blade;
50. a power supply device; 60. A boundary sensing device; 110. A controller;
120. a memory; 130. A start key; 140. A stop key;
310. a wire; A1-A4 and an infrared emitter; B1-B3 and an infrared receiver;
15. a collision sensor; 12. An outer housing; 14. An inner housing;
16. a groove; 150. A power key;
Detailed Description
Referring to fig. 1, an automatic mowing system includes an automatic mower 100, a docking station 200, and a boundary device. The boundary device is used for limiting the range of a working area, the automatic mower 100 is used for walking in the working area and carrying out mowing work, and the docking station 200 is used for returning supplementary energy to the automatic mower 100 when the energy is insufficient or keeping the automatic mower 100 out of the rain or docking.
Referring to fig. 2 and 3, the robotic lawnmower 100 includes a housing extending in a longitudinal direction, a plurality of wheels 20 disposed at a bottom of the housing, at least one traveling motor 30 disposed in the housing for driving the wheels 20, a cutting blade 42 disposed at a bottom of the housing for cutting, a cutting motor 40 disposed in the housing for driving the cutting blade 42, and a power supply device 50 for supplying power to the traveling motor 30 and the cutting motor 40.
The robotic lawnmower 100 further comprises a controller 110, a memory 120, an operator interface, and a boundary sensing device 60.
The memory 120 stores a fixed working program, the operation interface is only provided with a start key 130, a stop key 140 and a power key 150, the controller 110 is connected with the memory 120, the power device 50, the start key 130, the stop key 140, the walking motor 30, the cutting motor 40 and the boundary sensing device 60, and the power key 150 is connected with the power device 50.
The boundary sensing means 60 is used to sense the boundary of the work area. When the robotic lawnmower 100 is normally mowing, the controller 110 controls the robotic lawnmower 100 to change the direction of travel to return to the work area when the boundary sensing device 60 senses the boundary. In this embodiment, the wheel 20 includes a front wheel, a left driving wheel and a right driving wheel, and the walking motor 30 includes a left driving motor and a right driving motor, wherein the left driving motor is used for driving the left driving wheel, and the right driving motor is used for driving the right driving wheel. The controller 110 controls the left and right driving motors to rotate at different rotation speeds, thereby controlling the robotic lawnmower 100 to change a traveling direction to return to a work area.
When the power key 150 is pressed, the power device 50 is turned on or off. The start key 130 issues a start instruction when pressed, and the stop key 140 issues a stop instruction when pressed. After the controller 110 receives the start command, the controller 110 executes the operation program in the memory 120 to control the robotic lawnmower 100 to automatically perform mowing operation and return to the docking station 200 for charging, and so on, until the controller 110 receives the stop command. In other embodiments, the start key 130 and the stop key 140 may be combined into one.
Referring to fig. 4, the working procedure includes the following steps:
step S1: the travel motor 30 is started.
Step S2: controls the robotic lawnmower 100 to enter the work area.
Step S3: the automatic mower 100 is controlled to carry out mowing work according to a preset route or a random route.
Step S4: at least one first parameter of the robotic lawnmower 100 is detected, and the robotic lawnmower 100 is controlled to return to the docking station 200 for charging if the first parameter reaches a first predetermined value. In the present embodiment, the first parameter is the operating time, and the controller 110 starts timing when the robotic lawnmower 100 is started, and controls the robotic lawnmower 100 to return to the docking station 200 when the timing reaches a predetermined value. In other embodiments, the first parameter may be the power of the power device 50, and the robotic lawnmower 100 returns to the docking station 200 to be charged when the power of the power device 50 is detected to be lower than a predetermined value. In the present embodiment, the power amount of the power supply device 50 is realized by monitoring the voltage of the power supply device 50.
Step S5: whether the stop instruction is received or not is judged in the process of mowing or charging the automatic mower 100, if the stop instruction is received, the step S7 is executed, and if not, the step S6 is executed.
Step S6: at least one second parameter of the power supply device 50 is detected, and if the second parameter reaches a second predetermined value, the process returns to step S1, and so on. In this embodiment, the second parameter is the power of the power device 50, and the process returns to step S1 when detecting that the power of the power device 50 reaches a predetermined value. In another embodiment, the second parameter may be a charging time, which is measured from the time when the robotic lawnmower 100 is docked with the docking station 200 for charging, and the process returns to step S1 when the predetermined time is reached.
Step S7: the power supply device 50 is turned off.
In summary, the controller 110 of the robotic lawnmower 100 executes the above-mentioned operation program to make the robotic lawnmower 100 work in a work area with a small work area, such as 50-200 square meters, and automatically repeat mowing and returning to the docking station 200 for charging as long as receiving a start instruction until receiving a stop instruction, without requiring a user to input operation parameters, which is low in cost.
The boundary device may be a physical boundary device or a virtual boundary device. A physical boundary device, provided independently of the robotic lawnmower 100, for forming a boundary line to define a work area; the virtual boundary device may be disposed on the robotic lawnmower 100 or outside the work area, detect an environment near the robotic lawnmower 100, and determine whether the robotic lawnmower 100 is located within the work area based on the detected data.
Referring again to fig. 1, the physical boundary device may be a wire 310 electrically connected to the docking station 200. The wire and the docking station 200 form a closed loop for generating a magnetic field signal, the boundary sensing device 60 of the robotic lawnmower 100 is a magnetic sensing device for detecting the boundary signal, and the controller 110 determines whether the robotic lawnmower 100 is located in the working area according to the direction of the magnetic field detected by the magnetic sensing device.
The physical boundary device may be a plurality of independent wireless transmitters for transmitting wireless signals as boundary signals, the boundary sensing device 60 of the robotic lawnmower 100 is a wireless receiver for detecting wireless signals, and the controller 110 determines whether the robotic lawnmower 100 is located within the work area based on whether the wireless receiver receives wireless signals. The portable wireless transmitter acts as a boundary device allowing the user to quickly change or change the work area.
Referring to fig. 5, in another preferred embodiment of the present invention, the wireless transmitters are infrared transmitters a1, a2, A3 and a 4. The infrared signals emitted by the infrared emitters A1, A2, A3 and A4 form a closed or substantially closed polygonal area as a boundary line to define the working area of the robotic lawnmower 100. In one embodiment, the infrared emitters a1, a2, A3 and a4 are all located at corners of the polygon, and the polygonal area formed by the infrared signals emitted by the infrared emitters a1, a2, A3 and a4 is closed.
In the present embodiment, the infrared emitters a1, a2, A3 are located on the boundary extensions at three corners of the polygon, respectively. The docking station 200 is also located on an extension of the boundary at one corner, and the infrared emitter a4 is provided on the side of the docking station 200 facing the boundary. At this time, the polygonal area formed by the infrared signals emitted by the infrared emitters a1, a2, A3 and a4 is not completely closed, and a notch is formed at the stop 200, which does not affect the implementation of the automatic mowing system of the invention.
In the present embodiment, the infrared emitters a1, a2, and A3 are provided with independent batteries, wind power generators, or solar power generators, and can independently supply power. Infrared emitter a4 is powered by docking station 200.
The wireless receivers are infrared receivers B1 and B2 arranged on the side surface of the automatic mower 100. When the infrared receiver B1 or the infrared receiver B2 receives the infrared signal, the controller 110 determines that the robotic lawnmower 100 has reached the boundary of the work area.
The virtual boundary device may be a global positioning module (not shown) disposed within the robotic lawnmower 100, a grass identification module (not shown), or a camera module (not shown) disposed outside the work area.
The global positioning module is in wireless communication with the satellite and is used for acquiring the current position coordinate of the automatic mower 100, the controller 110 forms the virtual boundary information from the preset position coordinate sequence and forms a map of a working area, and if the position coordinate detected by the global positioning module is not in the map enclosed by the virtual boundary information, the controller 110 judges that the automatic mower 100 is located outside the working area.
The lawn identification module is configured to determine whether the current position of the robotic lawnmower 100 is a lawn according to a color or humidity of the ground, and the controller 110 determines whether the robotic lawnmower 100 is located in a work area according to whether the robotic lawnmower 100 is located on the lawn.
Specifically, the lawn identification module may be a color sensor (not shown) facing the ground or a number of electrodes (not shown) disposed on the bottom of the housing of the robotic lawnmower 100. The color sensor detects the color of the ground, and if the color is green, the controller 110 determines that the robotic lawnmower 100 is located in the work area. The electrodes extend outwardly from the bottom of the housing at a height from the ground that is less than the cutting height of the cutting blades, and when the robotic lawnmower 100 is positioned on a lawn, the electrodes are spaced apart by cut or uncut grass having a dielectric constant ε that is substantially greater than the dielectric constant ε of air, and the capacitance C between the electrodes satisfies: c ═ epsilon S/4 pi kd; wherein S is the facing area of the electrodes, k is a constant, d is the distance of the electrodes, and after the electrodes are set, the facing area S and the distance d of the electrodes are both constant, i.e. the change of the capacitance C is only related to the dielectric constant epsilon. By detecting the capacitance between the electrodes, it can be known whether the robotic lawnmower 100 is positioned on the lawn.
The camera module captures images of the robotic lawnmower 100 and a work area to be set, and defines a closed virtual boundary on the captured images. If it is shown on the photographed image that the robotic lawnmower 100 is outside the virtual boundary, the controller 110 determines that the robotic lawnmower 100 is outside the work area.
The robotic lawnmower 100 also includes an obstacle detection module for detecting an obstacle, and when the obstacle detection module detects an obstacle, the controller 110 controls the robotic lawnmower 100 to change the walking direction to avoid the obstacle.
Referring to fig. 2 again, in the present embodiment, the obstacle detection module is a collision sensor 15, such as a hall sensor, the housing includes an outer housing 12 and an inner housing 14, the outer housing 12 covers the inner housing 14, the collision sensor 15 is disposed between the inner housing 14 and the outer housing 12, and when the robotic lawnmower 100 collides with an obstacle, the collision sensor 15 can detect the relative movement between the inner housing and the outer housing. In other embodiments, the obstacle detection module may also be an ultrasonic generator and an ultrasonic receiver, an ultrasonic signal sent by the ultrasonic generator is reflected by the obstacle and then received by the ultrasonic receiver, and the distance between the automatic mower 100 and the obstacle can be calculated according to the time difference between the transmission and the reception of the ultrasonic signal.
The robotic lawnmower 100 also includes a rain detection module for detecting rain, and the controller 110 controls the robotic lawnmower to return to the stop when the rain detection module detects rain. The rain detection module is a conduction detection circuit having two positive and negative pole pieces disposed in the groove 16 at the top of the housing 12 of the robotic lawnmower 100. When accumulated water or other conductive liquid exists in the groove 16, the positive pole piece and the negative pole piece are conducted, and the rainwater detection module can detect rainwater.
When the robotic lawnmower 100 needs to return to the docking station 200 for charging, rain sheltering, or docking, the controller controls the robotic lawnmower to return to the docking station along the boundary of the work area.
When the boundary device is a wire, the controller 110 controls the robotic lawnmower to traverse the wire and return to the docking station in a clockwise or counterclockwise direction.
Referring to fig. 5 again, when the boundary device is a plurality of wireless transmitters a1, a2, A3, a4, in particular infrared transmitters, a plurality of wireless transmitters a1, a2, A3, a4 are disposed at a plurality of corners of the working area, and the transmitting directions are consistent clockwise or counterclockwise, wireless receivers B1, B2 are disposed at the side of the automatic mower 100, a wireless receiver B3 is disposed at the front end of the automatic mower 100, and the controller 110 controls the automatic mower 100 such that the wireless receiver B3 at the front end always receives a wireless signal, thereby enabling the automatic mower 100 to return to the docking station 200. If the robotic lawnmower 100 reaches the boundary and the wireless receiver B1 receives the wireless signal, the controller 110 controls the robotic lawnmower 100 to rotate until the wireless receiver B3 at the front end receives the wireless signal; maintaining the direction of travel of the robotic lawnmower 100; when the robotic lawnmower 100 reaches a corner and the wireless receiver B1 receives the wireless signal again, the controller 110 controls the robotic lawnmower 100 to rotate until the wireless receiver B3 at the front end receives the wireless signal again, thus causing the robotic lawnmower 100 to return to the docking station 200 clockwise or counterclockwise along the boundary. In other embodiments, only one wireless receiver may be disposed on the side of the robotic lawnmower 100, and if the transmission direction of the wireless transmitter is clockwise, the wireless receiver is disposed on the left side of the robotic lawnmower 100; if the transmitting direction of the wireless transmitter is the same as the counterclockwise direction, the wireless receiver is disposed on the right side of the robotic lawnmower 100.
Referring to fig. 6 and 7, in other embodiments, at least one ultrasonic generator is disposed at the stop 200, at least one ultrasonic receiver is disposed on the robotic lawnmower 100, and the controller 110 adjusts the traveling direction of the robotic lawnmower 100 according to the receiving condition of the ultrasonic receiver when returning, so that the robotic lawnmower 100 directly returns toward the stop 200.
Specifically, a first ultrasonic generator a, a second ultrasonic generator B and an infrared emitter C are arranged at the docking station 200, the two ultrasonic generators A, B are respectively located at two sides of the infrared emitter C, the first ultrasonic generator a is used for emitting a first ultrasonic signal, the second ultrasonic generator B is used for emitting a second ultrasonic signal with a frequency or intensity different from that of the first ultrasonic signal, and the infrared emitter C is used for emitting a linear infrared signal.
The emission angles of the two ultrasound generators A, B partially overlap, dividing the area near the docking station 200 into several sub-areas: single signal coverage area, overlap area ab and blank area. The single signal coverage area includes a first signal coverage area a covering only the first ultrasonic signal and a second signal coverage area b covering only the second ultrasonic signal. The overlap area ab is covered with the first ultrasonic signal and the second ultrasonic signal.
The automatic mower 100 is provided with a first ultrasonic receiver R1, a second ultrasonic receiver R2 and an infrared receiver R3.
The infrared receiver R3 is located in the middle of the front end of the robotic lawnmower 100, and the ultrasonic receivers R1 and R2 are respectively disposed on the robotic lawnmower 100 on both sides of the infrared receiver R3.
When the robotic lawnmower 100 needs to return or receive the ultrasonic signal for the first time, the controller 110 controls the robotic lawnmower 100 to rotate for one circle to perform initial position judgment to determine the sub-area to which the robotic lawnmower belongs. If the first ultrasonic receiver R1 or the second ultrasonic receiver R2 only receives the first ultrasonic signal after the robotic lawnmower 100 rotates one circle, the controller 110 determines that the current area is the first signal coverage area a; if the first ultrasonic receiver R1 or the second ultrasonic receiver R2 only receives the second ultrasonic signal after the robotic lawnmower 100 rotates for one circle, the controller 110 determines that the current area is the second signal coverage area b; if the first ultrasonic receiver R1 and the second ultrasonic receiver R2 receive the first ultrasonic signal and the second ultrasonic signal after the robotic lawnmower 100 rotates for one circle, the controller 110 determines that the current area is the first overlapping area ab; if the first ultrasonic receiver R1 and the second ultrasonic receiver R2 do not receive any signal after the robotic lawnmower 100 has rotated one round, the controller 110 controls the robotic lawnmower 100 to continue traveling along the predetermined route or the random route.
If the initial position of the robotic lawnmower 100 is within the first signal coverage area a, the controller 110 controls the robotic lawnmower 100 to rotate until only the first ultrasonic receiver R1 receives the first ultrasonic signal, as shown in phantom in fig. 6, and controls the robotic lawnmower 100 to enter the overlap area ab with the heading of the robotic lawnmower 100 as the walking direction. Similarly, when the initial position of the robotic lawnmower 100 is in the second signal coverage area b, the controller 110 controls the robotic lawnmower 100 to rotate until only the second ultrasonic receiver R2 receives the second ultrasonic signal, and the direction of the robotic lawnmower 100 is the traveling direction.
When the robotic lawnmower 100 enters the first overlap area ab from the first signal coverage area a, the first ultrasonic receiver R1 receives the first ultrasonic signal and the second ultrasonic signal, and the controller 110 controls the robotic lawnmower 100 to rotate until both the first ultrasonic receiver R1 and the second ultrasonic receiver R2 receive the first ultrasonic signal and the second ultrasonic signal, such that the robotic lawnmower 100 faces the docking station 200. The controller 110 then continuously controls the robotic lawnmower 100 such that the first and second ultrasonic receivers R1, R2 each maintain receiving the first and second ultrasonic signals.
One limiting condition for the robotic lawnmower 100 to be in the overlap area ab is: the robotic lawnmower 100 is located at the signal boundary on the left side of the second ultrasonic generator B. At this time, the controller 110 controls the robotic lawnmower 100 such that the first ultrasonic receiver R1 keeps receiving the first ultrasonic signal and the second ultrasonic receiver R2 keeps receiving the second ultrasonic signal. The robotic lawnmower 100 will follow the signal boundary on the left side of the second sonotrode B.
Similarly, when the robotic lawnmower 100 enters the first overlap area ab from the second signal coverage area b, the second ultrasonic receiver R2 receives the first ultrasonic signal and the second ultrasonic signal, and the controller 110 controls the robotic lawnmower 100 to rotate until both the first ultrasonic receiver R1 and the second ultrasonic receiver R2 receive the first ultrasonic signal and the second ultrasonic signal. One limiting condition at this time is: the controller 110 controls the robotic lawnmower 100 to follow the signal boundary to the right of the first sonotrode A.
If the initial position of the robotic lawnmower 100 is the first overlap area ab, the controller 110 still controls the robotic lawnmower 100 to rotate until the first ultrasonic receiver R1 and the second ultrasonic receiver R2 both receive the first ultrasonic signal and the second ultrasonic signal.
Referring to FIG. 7, when the robotic lawnmower 100 is about to leave the first overlapping area ab and enter the blank area, if the first ultrasonic receiver R1 does not receive any signal, the controller 110 controls the robotic lawnmower 100 to rotate counterclockwise until the infrared receiver R3 receives an infrared signal, such that the robotic lawnmower 100 is facing the docking station 200. The controller 110 thereafter maintains the heading of the robotic lawnmower 100, thereby achieving accurate docking of the robotic lawnmower 100 with the docking station 200.
Similarly, when the robotic lawnmower 100 is about to leave the first overlapping area ab and enter the blank area m, if the second ultrasonic receiver R2 does not receive any signal, the controller 110 controls the robotic lawnmower 100 to rotate clockwise until the infrared receiver R3 receives an infrared signal, such that the robotic lawnmower 100 is facing the docking station 200.
The initial position determination, entering area determination and control of the robotic lawnmower 100 within the generator coverage area are shown in table 1:
TABLE 1
The robotic lawnmower 100 of the robotic lawnmower system of this embodiment has the controller 110 and the memory 120, and the controller 110 executes the operating program in the memory 120 after receiving the start command to control the robotic lawnmower 100 to repeatedly perform the mowing operation and return to the docking station 200 for charging until the controller 110 receives the stop command, thereby eliminating the need for the user to input the operating parameters and reducing the cost.
The person skilled in the art can appreciate that the specific structure of the automatic mowing system of the present invention can be varied in many ways, but the main technical features of the technical solution adopted by the automatic mowing system are the same or similar to the present invention, and all the technical features are covered by the scope of the present invention.
Claims (12)
1. An automatic mowing system comprises a stop station and an automatic mower, wherein the automatic mower is provided with a controller, a memory, a power supply device and a walking motor, and is characterized in that: the controller executes the working program after receiving a starting instruction input by a user so as to control the automatic mower to automatically and repeatedly carry out mowing work and return to the stop station for charging until the controller receives a stopping instruction.
2. The automated mowing system according to claim 1, wherein: the working procedure comprises the following steps:
starting the walking motor;
controlling the automatic mower to enter a preset working area;
controlling the automatic mower to carry out mowing work according to a preset route or a random route;
detecting the electric quantity or the discharge time of the power supply device, and controlling the automatic mower to return to the stop station for charging if the electric quantity of the power supply device is lower than a first preset value or the discharge time reaches a first preset time;
and detecting the electric quantity or the charging time of the power supply device, and controlling the automatic mower to carry out mowing again if the electric quantity or the charging time of the power supply device reaches a second preset value or a second preset time.
3. The automated mowing system according to claim 2, wherein: the robotic lawnmower system also includes a physical boundary device for forming a boundary line to define the work area within which the robotic lawnmower operates.
4. The automated mowing system according to claim 3, wherein: the physical boundary device comprises a plurality of wireless transmitters which are independent from each other and are used for sending wireless signals as boundary signals, and the automatic mower is provided with a wireless receiver for detecting the boundary signals.
5. The automated mowing system according to claim 4, wherein: the wireless transmitter is an infrared transmitter, and the wireless receiver is an infrared receiver.
6. The automated mowing system according to claim 2, wherein: the robotic lawnmower system also includes a virtual boundary device for defining a working area of the robotic lawnmower.
7. The automated mowing system according to claim 6, wherein: the virtual boundary device is a global positioning module, a camera module or a grassland identification module arranged in the automatic mower, the global positioning module is in wireless communication with a positioning satellite, a virtual boundary is formed by a preset position coordinate sequence, the camera module shoots the automatic mower and the area nearby the automatic mower and demarcates the virtual boundary on the shot image, and the grassland identification module judges whether the grassland is the grassland or not according to the color or the humidity of the grassland.
8. The automated mowing system according to claim 2, wherein: the controller controls the robotic lawnmower to return to the docking station along the boundary of the work area.
9. The automated mowing system according to claim 2, wherein: the controller controls the robotic lawnmower to return directly toward the docking station.
10. The automated mowing system according to claim 9, wherein: the automatic mower is characterized in that the stop station is provided with at least one ultrasonic generator, the automatic mower is provided with at least one ultrasonic receiver, and when the automatic mower returns, the controller adjusts the advancing direction of the automatic mower according to the receiving condition of the ultrasonic receiver, so that the automatic mower returns towards the stop station.
11. The automated mowing system according to claim 10, wherein: the automatic mower is characterized in that an ultrasonic generator and an infrared transmitter are arranged on the stop, an ultrasonic receiver and an infrared receiver are arranged on the automatic mower, the ultrasonic generator and the ultrasonic receiver are used for guiding the automatic mower to return towards the stop, and the infrared transmitter and the infrared receiver are used for guiding the automatic mower to be in butt joint with the stop for charging.
12. The automated mowing system according to claim 1, wherein: the automatic mower further comprises an operation interface for a user to operate, wherein the operation interface is only provided with a power key, a start key and a stop key, the power key is used for starting or closing a power supply of the automatic mower, the start key sends the start instruction when being pressed, and the stop key sends the stop instruction when being pressed.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210585225.9A CN103891464B (en) | 2012-12-28 | 2012-12-28 | Automatically mow system |
| US14/758,424 US9820433B2 (en) | 2012-12-28 | 2013-12-27 | Auto mowing system |
| PCT/CN2013/090746 WO2014101840A1 (en) | 2012-12-28 | 2013-12-27 | Auto mowing system |
| EP13869696.8A EP2939508B1 (en) | 2012-12-28 | 2013-12-27 | Automatic mowing system |
| US15/799,114 US10555456B2 (en) | 2012-12-28 | 2017-10-31 | Auto mowing system |
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| CN107479546A (en) * | 2016-06-07 | 2017-12-15 | 苏州宝时得电动工具有限公司 | From mobile gardening equipment |
| CN107548712A (en) * | 2016-06-30 | 2018-01-09 | 苏州宝时得电动工具有限公司 | The charge control method and device of a kind of hay mover |
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| CN109584258A (en) * | 2018-12-06 | 2019-04-05 | 南京苏美达智能技术有限公司 | Meadow Boundary Recognition method and the intelligent mowing-apparatus for applying it |
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| CN110087450A (en) * | 2016-12-27 | 2019-08-02 | 本田技研工业株式会社 | Work system and working method |
| CN110392523A (en) * | 2017-03-02 | 2019-10-29 | 胡斯华纳有限公司 | Improved wheel track for robot grass trimmer is reduced |
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| CN111010975A (en) * | 2019-12-31 | 2020-04-17 | 宁波奇亚园林工具有限公司 | Intelligent mower positioning method and system |
| CN111109237A (en) * | 2019-12-20 | 2020-05-08 | 上海点甜农业专业合作社 | Weeding robot system based on camera recognition and weeding method thereof |
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| CN106818022A (en) * | 2015-12-03 | 2017-06-13 | 苏州宝时得电动工具有限公司 | The control method of hay mover and hay mover |
| CN107479546A (en) * | 2016-06-07 | 2017-12-15 | 苏州宝时得电动工具有限公司 | From mobile gardening equipment |
| CN107548712A (en) * | 2016-06-30 | 2018-01-09 | 苏州宝时得电动工具有限公司 | The charge control method and device of a kind of hay mover |
| CN107632596A (en) * | 2016-07-18 | 2018-01-26 | 苏州宝时得电动工具有限公司 | From mobile device return path control method and system |
| CN107960191A (en) * | 2016-10-19 | 2018-04-27 | 惠州市蓝微电子有限公司 | A kind of intelligent grass-removing system |
| CN106647753A (en) * | 2016-12-19 | 2017-05-10 | 钦州市晶通科技有限公司 | Electronic device based on ultrasonic automatic positioning |
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| CN108427267A (en) * | 2017-02-15 | 2018-08-21 | 苏州宝时得电动工具有限公司 | One kind is from mobile device progress control method, device and from mobile device |
| CN110392523A (en) * | 2017-03-02 | 2019-10-29 | 胡斯华纳有限公司 | Improved wheel track for robot grass trimmer is reduced |
| CN109892096A (en) * | 2017-12-08 | 2019-06-18 | 苏州宝时得电动工具有限公司 | Intelligent grass-removing |
| CN108089584A (en) * | 2017-12-25 | 2018-05-29 | 广州科语机器人有限公司 | The recharging method of grass-removing robot and grass-removing robot charging system |
| CN110063142A (en) * | 2018-01-24 | 2019-07-30 | 苏州宝时得电动工具有限公司 | The homing method and device of grass trimmer |
| CN110764495A (en) * | 2018-07-09 | 2020-02-07 | 苏州宝时得电动工具有限公司 | Mower and control method thereof |
| CN112911923A (en) * | 2018-09-28 | 2021-06-04 | 创科无线普通合伙 | Docking station for use with an autonomous tool, autonomous lawn mower, and method of guiding an autonomous tool towards a docking station |
| CN109584258A (en) * | 2018-12-06 | 2019-04-05 | 南京苏美达智能技术有限公司 | Meadow Boundary Recognition method and the intelligent mowing-apparatus for applying it |
| CN109584258B (en) * | 2018-12-06 | 2021-10-15 | 南京苏美达智能技术有限公司 | Grassland boundary identification method and intelligent mowing device applying same |
| CN112148813A (en) * | 2019-06-27 | 2020-12-29 | 深圳拓邦股份有限公司 | Random mower partitioning method and random mower |
| CN112684786A (en) * | 2019-10-18 | 2021-04-20 | 南京德朔实业有限公司 | Self-walking mowing system and outdoor walking equipment |
| CN112824937B (en) * | 2019-11-20 | 2024-05-28 | 苏州宝时得电动工具有限公司 | Route generation method and device and mower |
| CN112824937A (en) * | 2019-11-20 | 2021-05-21 | 苏州宝时得电动工具有限公司 | Route generation method and device and mower |
| CN111109237A (en) * | 2019-12-20 | 2020-05-08 | 上海点甜农业专业合作社 | Weeding robot system based on camera recognition and weeding method thereof |
| CN113115621A (en) * | 2019-12-30 | 2021-07-16 | 南京德朔实业有限公司 | Intelligent mowing system and autonomous mapping method thereof |
| CN111010975A (en) * | 2019-12-31 | 2020-04-17 | 宁波奇亚园林工具有限公司 | Intelligent mower positioning method and system |
| WO2021208010A1 (en) * | 2020-04-16 | 2021-10-21 | Globe (jiangsu) Co., Ltd. | Navigating a robotic mower along a guide wire |
| CN111903313A (en) * | 2020-07-10 | 2020-11-10 | 梅里科技(广州)有限公司 | Intelligent mower and control method thereof |
| CN114721385A (en) * | 2022-04-07 | 2022-07-08 | 未岚大陆(北京)科技有限公司 | Virtual boundary establishing method and device, intelligent terminal and computer storage medium |
| CN114747361A (en) * | 2022-04-26 | 2022-07-15 | 深圳华芯信息技术股份有限公司 | Method and device for controlling mowing robot and computer storage |
| CN114846983A (en) * | 2022-05-25 | 2022-08-05 | 深圳华芯信息技术股份有限公司 | Mower assembly and automatic battery replacement method |
| CN114846983B (en) * | 2022-05-25 | 2024-03-15 | 深圳华芯信息技术股份有限公司 | Mower assembly and automatic power changing method |
| CN114935932A (en) * | 2022-05-26 | 2022-08-23 | 深圳拓邦股份有限公司 | Visual station returning method and system for mower |
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